Scribd
Upload
66 views20 pages

Perception Module Overview

This document discusses the requirements and goals for vehicle perception systems. It explains that perception systems aim to identify and understand both static objects like road markings and signs as well as dynamic objects like other vehicles, pedestrians, and the ego vehicle's motion. The goals are to inform planning and decision making for driving. Key challenges to perception include robust detection, sensor uncertainty, occlusion, weather conditions, and other environmental factors.

Uploaded by

Nikita Shakya
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
66 views20 pages

Perception Module Overview

This document discusses the requirements and goals for vehicle perception systems. It explains that perception systems aim to identify and understand both static objects like road markings and signs as well as dynamic objects like other vehicles, pedestrians, and the ego vehicle's motion. The goals are to inform planning and decision making for driving. Key challenges to perception include robust detection, sensor uncertainty, occlusion, weather conditions, and other environmental factors.

Uploaded by

Nikita Shakya
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd

Requirements for Perception

Module 1, Lesson 2
In this lesson ...

• What is perception
• Goals for perception
o Static, dynamic objects
o Ego requirements
• Challenges to perception
Roughly ...

Input Analyze ego motion Decide on and Drive


& environment plan a maneuver
(perception) (planning)
Object and Event Detection and Response
(OEDR)
• Recall this is a criterion for automation
What is perception?

• We want to make sense of the environment and ourselves


• Two things:
o identification
o understanding motion
• Why?
o to inform our driving decisions
Goals for perception
Goals for perception

• Static objects
Goals for perception

• Static objects
o Road and lane markings (on-road)
Goals for perception

• Static objects
o Road and lane markings (on-road)
o Curbs (off-road)
Goals for perception

• Static objects
o Road and lane markings (on-road)
o Curbs (off-road)
o Traffic lights (off-road)
Goals for perception

• Static objects
o Road and lane markings (on-road)
o Curbs (off-road)
o Traffic lights (off-road)
o Road signs (off-road)
Goals for perception

• Static objects
o Road and lane markings (on-road)
o Curbs (off-road)
o Traffic lights (off-road)
o Road signs (off-road)
o Construction signs, obstructions,
and more (on-road)
Goals for perception

• Dynamic objects (on-road)


Goals for perception

• Dynamic objects (on-road)


o Vehicles
Goals for perception

• Dynamic objects (on-road)


o Vehicles
§ 4 wheelers (cars, trucks …)
Goals for perception

• Dynamic objects (on-road)


o Vehicles
§ 4 wheelers (cars, trucks …)
§ 2 wheelers (motorbikes, bicycles, …)

16
Goals for perception

• Dynamic objects (on-road)


o Vehicles
§ 4 wheelers (cars, trucks …)
§ 2 wheelers (motorbikes, bicycles, …)
o Pedestrians
Goals for perception

• Ego localization
o Position
o Velocity, acceleration
o Orientation, angular motion
Challenges to perception

• Robust detection and segmentation


• Sensor uncertainty
• Occlusion, reflection
• Illumination, lens flare
• Weather, precipitation
Summary

• Perception
• Goals for perception
o Static and dynamic elements, prediction
o Ego localization
• Challenges to perception

You might also like